An autonomous underwater vehicle (AUV) must use an algorithm to plan its path to distant, mobile offshore objects. Because of the uneven distribution of obstacles in the real world, the efficiency of the algorithm dec...An autonomous underwater vehicle (AUV) must use an algorithm to plan its path to distant, mobile offshore objects. Because of the uneven distribution of obstacles in the real world, the efficiency of the algorithm decreases if the global environment is represented by regular grids with all of them at the highest resolution. The framed quadtree data structure is able to more efficiently represent the environment. When planning the path, the dynamic object is expressed instead as several static objects which are used by the path planner to update the path. By taking account of the characteristics of the framed quadtree, objects can be projected on the frame nodes to increase the precision of the path. Analysis and simulations showed the proposed planner could increase efficiency while improving the ability of the AUV to follow an object.展开更多
A wireless communication method with dynamic adding nodes for Underground Search and Rescue robot is proposed： fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of ...A wireless communication method with dynamic adding nodes for Underground Search and Rescue robot is proposed： fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of the mobile terminal. With this method, the Search and Rescue robot can reach the deeper place of a mine to help rescue and keep in touch with the controller through wireless communication in a single channel, even in a complex laneway where radio wave cannot go through the thick wall. The collision in the process of the two-way multi-hop communication in the single channel will also be resolved by the communication direction priority and response signal mechanism, to enhance the reliability of communication. Finally, a sample is designed and an experiment is conducted to verify the efficiency of the method.展开更多
The paper explores applications of genetic programming to co-evolution of morphology and low-level control. In most reasonably difficult tasks, facilitation provided by modularity has proved to be vital for successful...The paper explores applications of genetic programming to co-evolution of morphology and low-level control. In most reasonably difficult tasks, facilitation provided by modularity has proved to be vital for successful application of genetic programming. However, the need for sharing data among nodes in the syntactic tree becomes especially acute when evolving modular programs. It has been shown before that it may be beneficial that modules themselves be node-attached. The paper presents extensions to standard genetic programming （the so-called contexts and context blocks） that allow for straight-forward storage, retrieval, transfer, and modification of data stored in the context of a syntactic tree, and shared by multiple nodes. Framework is thus provided for both： data sharing and node-attached modules. Finally, using context blocks, a genetic algorithm has been embedded within genetic programming to evolve values of constants. In genetic programming evolution of constants has been a long-standing problem. The paper shows how context blocks can be utilized to provide a more granular and flexible approach to their evolution. As shown in previous works, node-attached modules perform favorably when compared with existing approaches. Concerning evolution of context block constants, it is shown here that they too perform favorably when compared with ephemeral constants.展开更多
This paper presents a universal platform "uSensing" to support smartphones to communicate with sensor nodes in Wireless Sensor Networks (WSNs).Since phones have different CPU processers and operating systems...This paper presents a universal platform "uSensing" to support smartphones to communicate with sensor nodes in Wireless Sensor Networks (WSNs).Since phones have different CPU processers and operating systems,it is a challenge to merge these heterogeneities and develop such a universal platform.In this paper,we design both hardware and software to support the "universal" feature of uSensing:1) "uSD" card:an IEEE 802.15.4 physical communication card with SD interface;2) "uSinkWare":a WSNs middleware running on smartphones.Integrated with uSD card and uSinkWare,phones become mobile data sinks to access into WSNs and parse messages from sensor nodes.We demonstrate the proposed uSensing platform in a commercial smartphone to connect with our WSNs testbed,and validate that the smartphone has the same WSNs functions as commercial fixed sink.Additionally,we evaluate the performance of uSensing platform through measuring phone's CPU load and power consumption,and analyze the performance of these metrics theoretically.The results suggest that the phone-based mobile sink has enough capability to serve as a mobile sink of WSNs and can work up to twenty hours due to low power consumption.展开更多
Supposing that the overall situation is dug out from the distributed monitoring nodes, there should be two critical obstacles, heterogenous schema and instance, to integrating heterogeneous data from different monitor...Supposing that the overall situation is dug out from the distributed monitoring nodes, there should be two critical obstacles, heterogenous schema and instance, to integrating heterogeneous data from different monitoring sensors. To tackle the challenge of heterogenous schema, an instance-based approach for schema mapping, named instance-based machine-learning （IML） approach was described. And to solve the problem of heterogenous instance, a novel approach, called statistic-based clustering （SBC） approach, which utilized clustering and statistics technologies to match large scale sources holistically, was also proposed. These two algorithms utilized the machine-leaning and clustering technology to improve the accuracy. Experimental analysis shows that the IML approach is more precise than SBC approach, reaching at least precision of 81% and recall rate of 82%. Simulation studies further show that SBC can tackle large scale sources holisticalty with 85% recall rate when there are 38 data sources.展开更多
基金Supported by the National Natural Science Foundation of China under Grant No. 60875071
文摘An autonomous underwater vehicle (AUV) must use an algorithm to plan its path to distant, mobile offshore objects. Because of the uneven distribution of obstacles in the real world, the efficiency of the algorithm decreases if the global environment is represented by regular grids with all of them at the highest resolution. The framed quadtree data structure is able to more efficiently represent the environment. When planning the path, the dynamic object is expressed instead as several static objects which are used by the path planner to update the path. By taking account of the characteristics of the framed quadtree, objects can be projected on the frame nodes to increase the precision of the path. Analysis and simulations showed the proposed planner could increase efficiency while improving the ability of the AUV to follow an object.
基金supported by State Key Laboratory of Robotics and System of Harbin Institute of Technology(SKLRS-2009-MS-03)
文摘A wireless communication method with dynamic adding nodes for Underground Search and Rescue robot is proposed： fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of the mobile terminal. With this method, the Search and Rescue robot can reach the deeper place of a mine to help rescue and keep in touch with the controller through wireless communication in a single channel, even in a complex laneway where radio wave cannot go through the thick wall. The collision in the process of the two-way multi-hop communication in the single channel will also be resolved by the communication direction priority and response signal mechanism, to enhance the reliability of communication. Finally, a sample is designed and an experiment is conducted to verify the efficiency of the method.
文摘The paper explores applications of genetic programming to co-evolution of morphology and low-level control. In most reasonably difficult tasks, facilitation provided by modularity has proved to be vital for successful application of genetic programming. However, the need for sharing data among nodes in the syntactic tree becomes especially acute when evolving modular programs. It has been shown before that it may be beneficial that modules themselves be node-attached. The paper presents extensions to standard genetic programming （the so-called contexts and context blocks） that allow for straight-forward storage, retrieval, transfer, and modification of data stored in the context of a syntactic tree, and shared by multiple nodes. Framework is thus provided for both： data sharing and node-attached modules. Finally, using context blocks, a genetic algorithm has been embedded within genetic programming to evolve values of constants. In genetic programming evolution of constants has been a long-standing problem. The paper shows how context blocks can be utilized to provide a more granular and flexible approach to their evolution. As shown in previous works, node-attached modules perform favorably when compared with existing approaches. Concerning evolution of context block constants, it is shown here that they too perform favorably when compared with ephemeral constants.
基金supported by the National Natural Science Foundation of China under Grant No.60932005China and Europe Government Cooperation Projects of the Ministry of Science and Technology under Grant No.2010DFA11680the Tsinghua Sci-Tech Project under Grant No.2011THZ0
文摘This paper presents a universal platform "uSensing" to support smartphones to communicate with sensor nodes in Wireless Sensor Networks (WSNs).Since phones have different CPU processers and operating systems,it is a challenge to merge these heterogeneities and develop such a universal platform.In this paper,we design both hardware and software to support the "universal" feature of uSensing:1) "uSD" card:an IEEE 802.15.4 physical communication card with SD interface;2) "uSinkWare":a WSNs middleware running on smartphones.Integrated with uSD card and uSinkWare,phones become mobile data sinks to access into WSNs and parse messages from sensor nodes.We demonstrate the proposed uSensing platform in a commercial smartphone to connect with our WSNs testbed,and validate that the smartphone has the same WSNs functions as commercial fixed sink.Additionally,we evaluate the performance of uSensing platform through measuring phone's CPU load and power consumption,and analyze the performance of these metrics theoretically.The results suggest that the phone-based mobile sink has enough capability to serve as a mobile sink of WSNs and can work up to twenty hours due to low power consumption.
基金Projects(2007AA01Z126, 2007AA01Z474) supported by the National High-Tech Research and Development Program of ChinaProject(NCET-06-0928) supported by the Program for New Century Excellent Talents in University
文摘Supposing that the overall situation is dug out from the distributed monitoring nodes, there should be two critical obstacles, heterogenous schema and instance, to integrating heterogeneous data from different monitoring sensors. To tackle the challenge of heterogenous schema, an instance-based approach for schema mapping, named instance-based machine-learning （IML） approach was described. And to solve the problem of heterogenous instance, a novel approach, called statistic-based clustering （SBC） approach, which utilized clustering and statistics technologies to match large scale sources holistically, was also proposed. These two algorithms utilized the machine-leaning and clustering technology to improve the accuracy. Experimental analysis shows that the IML approach is more precise than SBC approach, reaching at least precision of 81% and recall rate of 82%. Simulation studies further show that SBC can tackle large scale sources holisticalty with 85% recall rate when there are 38 data sources.
